## repository: ros-pkg
<<PackageHeader(pluto-ros-package)>>

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## description = This package can be used to control Pluto or PlutoX using keyboard, joystick or rostopic PlutoMsg.
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== Supported Hardware ==
This node is intended to work with Pluto and PlutoX drone.

== Getting Started ==

Use following instructions on how to use this package:

=== Prerequisites ===

Follow this [[http://wiki.ros.org/joy|tutorial]] on ROS wiki and install necessary package to use the joystick control feature of pluto-ros-package. 

=== Installation ===
{{{
# Navigate to catkin workspace
roscd <WORKSPACE_NAME>

# clone repository
git clone https://github.com/DronaAviation/pluto-ros-package

# Build the Package 
catkin_make 
}}}

== Nodes ==

 * '''plutonode''' <<BR>> The `plutonode` provides a communication with Pluto/PlutoX drone

{{{
rosrun plutodrone plutonode 
}}}

 * '''data_via_rosservice.py''' <<BR>> This can be used to get the data from drone

{{{
rosrun plutoserver data_via_rosservice.py
}}}

 * '''plutojoystick''' <<BR>>  To control drone using Joystick

{{{
rosrun plutoserver plutojoystick
}}}

 * '''drone_comb.launch''' <<BR>>  Use this launch file of node to control drone using keyboard

{{{
roslaunch plutoserver drone_comb.launch
}}}

* '''Note''': To use Camera wifi to control drone instead of ESP wifi, edit following lines in [[https://github.com/DronaAviation/pluto-ros-package/blob/master/plutodrone/src/Communication.cpp|Communication.cpp]]

{{{
addr.sin_port = htons(CAMERA_PORT);
addr.sin_addr.s_addr = inet_addr(CAMERA_IP_ADDRESS);
}}}

=== Topics ===
 * '''PlutoMsg''' <<BR>>''msg/PlutoMsg'' <<BR>> RC data to control the drone

=== Parameters ===
 1. ''~rcRoll'' <<BR>>type = int64 <<BR>>default = 1500 <<BR>> rc data for roll axis ranges from 1000 to 2000

 1. ''~rcPitch'' <<BR>>type = int64 <<BR>>default = 1500 <<BR>> rc data for pitch axis ranges from 1000 to 2000

 1. ''~rcYaw'' <<BR>>type = int64 <<BR>>default = 1500 <<BR>> rc data for yaw axis ranges from 1000 to 2000

 1. ''~rcThrottle'' <<BR>>type = int64 <<BR>>default = 1500 <<BR>> rc data for throttle axis ranges from 1000 to 2000

 1. ''~rcAUX1'' <<BR>>type = int64 <<BR>>default = 1000 <<BR>> rc data for AUX1 channel ranges from 1000 to 2000

 1. ''~rcAUX2'' <<BR>>type = int64 <<BR>>default = 1000 <<BR>> rc data for AUX2 channel ranges from 1000 to 2000

 1. ''~rcAUX3'' <<BR>>type = int64 <<BR>>default = 1000 <<BR>> rc data for AUX3 channel ranges from 1000 to 2000

 1. ''~rcAUX4'' <<BR>>type = int64 <<BR>>default = 1000 <<BR>> rc data for AUX4 channel ranges from 1000 to 2000

 1. ''~plutoIndex'' <<BR>>type = int64 <<BR>>default = 0 <<BR>> pluto index number for multiple drones

=== Services ===

 * '''PlutoPilot''' <<BR>>''srv/PlutoPilot'' <<BR>> This service can be used to get data from drone

=== Requests ===
 1. ''~roll'' <<BR>>type = int32 <<BR>> roll value from drone

 1. ''~pitch'' <<BR>>type = int32 <<BR>> pitch value from drone

 1. ''~yaw'' <<BR>>type = int32 <<BR>> yaw value from drone

 1. ''~accx'' <<BR>>type = float32 <<BR>> Acc sensor x axis value 

 1. ''~accy'' <<BR>>type = float32 <<BR>> Acc sensor y axis value

 1. ''~accz'' <<BR>>type = float32 <<BR>> Acc sensor z axis value

 1. ''~gyrox'' <<BR>>type = float32 <<BR>> Gyro sensor x axis value

 1. ''~gyroy'' <<BR>>type = float32 <<BR>> Gyro sensor y axis value

 1. ''~gyroz'' <<BR>>type = float32 <<BR>> Gyro sensor z axis value

 1. ''~magx'' <<BR>>type = float32 <<BR>> Mag sensor x axis value

 1. ''~magY'' <<BR>>type = float32 <<BR>> Mag sensor y axis value

 1. ''~magZ'' <<BR>>type = float32 <<BR>> Mag sensor z axis value

 1. ''~alt'' <<BR>>type = float32 <<BR>> Alt value from drone

 1. ''~battery'' <<BR>>type = float32 <<BR>> vbat from drone

 1. ''~rssi'' <<BR>>type = int32 <<BR>> RSSI value of drone wifi


== Application ==

=== Joystick ===

The package uses following axes and buttons index to control drone: <<BR>>

||Axes || Control Type ||
||2 ||ROLL ||
||3 || PITCH ||
||0 || YAW ||
||1 || THROTTLE ||
||4 || TRIM ROLL ||
||5 || TRIM PITCH ||

||Buttons || Control Type ||
||4 ||ARM or DISARM ||
||3 || TAKE OFF ||
||1 || LAND ||
||5 || SAVE TRIM ROLL, TRIM PITCH ||

* '''Note''' : To change this mapping use [[https://github.com/DronaAviation/pluto-ros-package/blob/master/plutoserver/include/plutoserver/plutojoystick.h|plutojoystick.h]]

=== Keyboard ===

The package uses following keys to control drone: <<BR>>

||key || Control Type ||
||spacebar || ARM or DISARM ||
||w || increase THROTTLE ||
||s || decrease THROTTLE ||
||q || TAKE OFF ||
||e || LAND ||
||a || left YAW ||
||d || right YAW ||
||Up arrow || forward PITCH ||
||Down arrow || backward PITCH ||
||Left arrow || left ROLL ||
||Right arrow || right ROLL ||
||Ctrl-C || Quit ||

=== ROSTopic PlutoMsg ===

PlutoMsg can be used to control drone <<BR>>

 * '''ARM''' <<BR>>

{{{
rostopic pub /drone_command plutodrone/PlutoMsg "{rcRoll: 1500, rcPitch: 1500, rcYaw: 1500, rcThrottle: 1000, rcAUX1: 1500, rcAUX2: 1500, rcAUX3: 1500, rcAUX4: 1500}"
}}}

* For more details on how to PlutoMsg to control drone use [[https://github.com/DronaAviation/pluto-ros-package/blob/master/README.md|link]]

=== Multiple Drones ===

* Following is the procedure to control multiple drones within the same network: <<BR>>

1. Setting the drone in client mode: Connect to drone wifi and use following command to open telnet connection: <<BR>>

{{{
telnet 192.168.4.1 // drone wifi ip
}}}

2. Set the drone in both Station(STA) and Access Point Mode(AP) : <<BR>>

{{{
+++AT MODE 3
}}}

3. Set the ssid and password: <<BR>>

{{{
+++AT STA ssid password
}}}

4. Add IPs: Start hotspot and drone should connect to the hotspot. Note the IP address assigned to it. Edit following lines in [[https://github.com/DronaAviation/pluto-ros-package/blob/master/plutodrone/src/PlutoSwarm.cpp|PlutoSwarm.cpp]]. Repeat this for all new drones which are added to the network. <<BR>>

{{{
all_ips.push_back(&quot;192.168.43.151&quot;); 
all_ips.push_back(&quot;&quot;);
}}}

5. Send data: Use PlutoMsg to send RC data to drone and add plutoIndex in every PlutoMsg command. This index is the same as the index of the IP within 'all_ips' vector. <<BR>>

* '''Note''': This feature is possible with ESP wifi and will not work over camera wifi of Pluto/PlutoX. <<BR>>

== Contact ==

For any queries related to this package comment on [[https://github.com/DronaAviation/pluto-ros-package|github repo]] or mail on developers@dronaaviation.com

== Acknowledgments ==

This package is improved version of https://github.com/simmubhangu/pluto_drone.git

Thanks to [[http://www.e-yantra.org/|e-yantra]] team for developing original version of this package.

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